Map-information obstacle-tracking system and method

Abstract

A map-information obstacle-tracking system and a method thereof are provided. The system is installed in a vehicle. The method includes: using a vehicular dynamic positioning module to acquire a position of a vehicle, and using a map-information module to acquire map-information routes of an area neighboring the position of the vehicle; comparing position of the vehicle with the map-information routes to find out candidate routes in the moving direction of the vehicle; determining one of the candidate routes where said obstacle appears, and predicting a moving trajectory of the obstacle; estimating and outputting a position of the obstacle. The present invention is characterized in using map-information and able to acquire the curvature and slope of the front curved lane. Therefore, the present invention can improve the precision of the obstacle position and stabilizes the accuracy of detecting an obstacle in a curved lane.

What is claimed is: 
     
       1. A map-information obstacle-tracking system, installed on an on-board system of a vehicle, comprising:
 a global positioning system, used to acquire a position of said vehicle; 
 one or more processors, coupled to the global positioning system and arranged to: 
 acquire map-information routes of an area neighboring said position of said vehicle; 
 compare said position of said vehicle with said map-information routes to find out a plurality of candidate routes of said vehicle; 
 receive a result of tracking at least one obstacle, determine one of said candidate routes where said obstacle appears, and predict a moving trajectory of said obstacle; and 
 estimate a position of said obstacle according to said moving trajectory of said obstacle, and output said position of said obstacle; 
 
       wherein the processor is arranged to:
 match said result of tracking said obstacle with said candidate routes to find out an obstacle route where said obstacle appears from said candidate routes; and p 1  use an optimized route equation to predict a moving trajectory along which said obstacle moves in said obstacle route according to said result of tracking said obstacle; 
 
       wherein the plurality of candidate routes of said vehicle are included by a same road. 
     
     
       2. The map-information obstacle-tracking system according to  claim 1 , wherein said global positioning system is configured to acquire a state of said vehicle, which includes a speed, an orientation, a position and a moving direction of said vehicle. 
     
     
       3. The map-information obstacle-tracking system according to  claim 1 , wherein said map-information routes comprises central lines, directions, lanes, signs, and curvatures and slopes of roads. 
     
     
       4. The map-information obstacle-tracking system according to  claim 1 , wherein the processor is arranged to pick up information of roads in front of said vehicle to determine whether said obstacle appears in front of said vehicle. 
     
     
       5. The map-information obstacle-tracking system according to  claim 1 , wherein said result of tracking said obstacle comprises obstacle following parameters: a longitudinal position, a moving direction, and a speed of said obstacle. 
     
     
       6. The map-information obstacle-tracking system according to  claim 1 , wherein said processor is arranged to provide a prediction result of said moving trajectory of said obstacle as a filter parameter to predict a position of said obstacle. 
     
     
       7. The map-information obstacle-tracking system according to  claim 1 , wherein the processor is arranged to transform said position of said vehicle and said map-information routes from a global coordinate system to a vehicular coordinate system. 
     
     
       8. The map-information obstacle-tracking system according to  claim 4 , wherein the processor is arranged to transform a coordinate system of at least one sensation result from a global coordinate system to a vehicular coordinate system, and output said sensation result in order to judge whether said obstacle appears in the front or whether an object in the front is said obstacle. 
     
     
       9. A map-information obstacle-tracking method, comprising following steps:
 using a global positioning system to acquire a position of a vehicle, and using one or more processors coupled to the global positioning system to acquire map-information routes of an area neighboring said position of said vehicle; 
 comparing said position of said vehicle with said map-information routes to find out a plurality of candidate routes of said vehicle; 
 receiving a result of tracking an obstacle, determining one of said candidate routes where said obstacle appears, and predicting a moving trajectory of said obstacle; and 
 estimating a position of said obstacle according to said moving trajectory of said obstacle, and outputting said position of said obstacle; 
 
       wherein said step of predicting a moving trajectory of said obstacle further comprises following steps:
 matching said result of tracking said obstacle with said candidate routes to find out an obstacle route where said obstacle appears from said candidate routes; and 
 using an optimized route equation to predict a moving trajectory along which said obstacle moves in said obstacle route according to said result of tracking said obstacle; wherein the plurality of candidate routes of said vehicle are included by a same road . 
 
     
     
       10. The map-information obstacle-tracking method according to  claim 9 , wherein said global positioning system further acquires states of said vehicle, comprising a speed, an orientation, a position and a moving direction of said vehicle. 
     
     
       11. The map-information obstacle-tracking method according to  claim 9 , wherein said map-information routes comprises central lines, directions, lanes, signs, and curvatures of roads. 
     
     
       12. The map-information obstacle-tracking method according to  claim 9 , further comprising a step: using the processor to pick up information of roads in front of said vehicle for determining whether said obstacle appears in front of said vehicle. 
     
     
       13. The map-information obstacle-tracking method according to  claim 9 , wherein said result of tracking said obstacle comprises obstacle parameters, comprising a longitudinal position, a moving direction, and a speed of said obstacle. 
     
     
       14. The map-information obstacle-tracking method according to  claim 9 , wherein a prediction result of said moving trajectory of said obstacle is used as a filter parameter to predict a position of said obstacle. 
     
     
       15. The map-information obstacle-tracking method according to  claim 9 , further comprising a step: using the processor to transform said position of said vehicle and said map-information routes from a global coordinate system to a vehicular coordinate system.